System and method for drilling holes and installing fasteners in vehicle structures

ABSTRACT

A system and method for drilling a hole in a vehicle structure and installing a fastener in the hole. A drill plate having openings and associated machine-readable elements is positioned on the structure. A drill gun is positioned in a particular opening and reads hole information from the associated element, and a computer determines whether the drill gun is properly set-up to drill the hole. A fastener insertion gun is positioned in the particular opening and reads fastener information from the element, and the computer determines whether the hole has been drilled and, if so, whether the fastener insertion gun is properly set-up to insert the fastener. A fastener delivery subsystem stores, tracks, and delivers fasteners to the fastener insertion gun. A system computer monitors the drilling of every hole, the insertion of every fastener, and the overall operation of the fastener delivery subsystem.

FIELD

The present invention relates to systems and methods for drilling holesand installing fasteners in vehicle structures, and more particularly,embodiments concern a system and method for drilling holes in aircraftfuselages or other aerospace or vehicle bodies or structures anddelivering, sealing, inserting, and otherwise installing fasteners inthe holes.

BACKGROUND

It is often desirable to install fasteners of various kinds in aerospaceor other vehicle structures (e.g., fuselages or other bodies). Severaltechnologies exist for accomplishing this task, but all suffer fromdifferent disadvantages. At one extreme, holes may be drilled by handusing simple tools, and fasteners may be installed in the holes by handusing simple tools. This provides a simple solution but increases therisks of creating defects or other errors with regard to drilling thehole incorrectly or installing the fastener incorrectly. Further, thissolution can require a great deal of time and expense to trainoperators. At the other extreme, the processes of drilling holes andinstalling fasteners may be highly automated and performed bysophisticated machines. This solution greatly reduces the risks ofcreating defects or other errors, but is also much more complicated andexpensive to implement and maintain. For example, many manufacturers ofaircraft bodies use Flex Track automated machines which may cost $16million or more or “monument” machines which may cost $30 million ormore to drill and fasten fuselage assemblies.

This background discussion is intended to provide information related tothe present invention which is not necessarily prior art.

SUMMARY

Embodiments address the above-described and other limitations anddisadvantages in the prior art by providing a system and method fordrilling holes in aircraft fuselages or other aerospace or vehiclestructures or bodies and delivering, sealing, inserting, and otherwiseinstalling fasteners in the holes. In particular, embodiments providesolutions that advantageously combine higher quality and lower costrelative to prior art technologies.

In an embodiment, a system is provided for drilling a hole in a vehiclestructure and installing a fastener in the hole. The system may comprisea first drill plate, and the first drill plate may include a plate body,an opening, and a machine-readable element. The plate body may betemporarily attached to a first surface of the vehicle structure. Theopening may extend through the plate body to the first surface of thevehicle structure. The machine-readable element may be associated withthe opening and provide information regarding drilling the hole andinstalling the fastener in the hole. In operation, the opening mayreceive a drill gun which drills the hole in the first surface, and thenthe opening may receive a fastener insertion gun which installs thefastener in the hole.

In various implementations of the foregoing embodiment, the system mayfurther include any one or more the following features. The plate bodymay be constructed of carbon fiber reinforced resin. Themachine-readable element may be a radio-frequency identification elementelectronically communicating the information, or alternatively,communicating a code which may be used to obtain the information. Theinformation may include hole information regarding how the hole is to bedrilled, and the hole information may include a size of the drill bitfor drilling the hole. The information may include fastener informationregarding the fastener to be installed in the hole and how the fasteneris to be installed in the hole, and the fastener information may includea type and a size of the fastener to be installed in the hole. There maybe a plurality of openings and a single machine-readable elementassociated with the plurality of openings, or alternatively, there maybe a plurality of openings and a plurality of machine-readable elements.The system may further comprise an electronic memory element recordingwhether the hole has been drilled and whether the fastener has beeninstalled in the hole. The system may further comprise a second drillplate temporarily attached to a second surface of the vehicle structureand physically aligned with the first drill plate.

In another embodiment, a system is provided for drilling a hole in anaircraft body and installing a fastener in the hole. The system maycomprise a drill plate, a drill gun, and a fastener insertion gun. Thedrill plate may include a plate body temporarily attached to a firstsurface of the aircraft body, an opening through the plate bodyextending to the first surface of the aircraft body, and amachine-readable element associated with the opening and providingfastener information regarding a required fastener to be installed inthe hole. The drill gun may be inserted into the opening, drill with adrill bit the hole in the first surface, and then be removed from theopening. The fastener insertion gun may be inserted into the opening andinstall the fastener in the hole. The fastener insertion gun may includea fastener insertion gun reader element reading the fastenerinformation.

In various implementations of the foregoing embodiment, the system mayfurther include any one or more the following features. The fastenerinformation may include a required fastener type and a required fastenersize of the required fastener to be installed in the hole. The systemmay further include a computer which may compare the required fastenertype and the required fastener size with an actual fastener type and anactual fastener size of the fastener in the fastener insertion gun, andmay block the fastener insertion gun if the required fastener type andthe required fastener size do not match the actual fastener type and theactual fastener size. The machine-readable element may further providehole information regarding how the hole is to be drilled, wherein thehole information may include a required drill bit size for drilling thehole, and the drill gun may include a drill gun reader element readingthe hole information. The computer may compare the required drill bitsize with an actual drill bit size of the drill bit installed in thedrill gun, and may block the drill gun if the required drill bit sizedoes not match the actual drill bit size. The system may further includean electronic memory element recording whether the hole has been drilledand whether the fastener has been installed in the hole.

In another embodiment, a fastener insertion gun is provided forinstalling a fastener in a hole in a vehicle structure. The fastenerinsertion gun may comprise a gun body, a concentric collet, a readermechanism, a plurality of internal air valves, and a gun computer. Thegun body may have a forward portion and rearward portion. The concentriccollet may be mounted on the forward portion of the gun body and mayselectively expand within an opening adjacent to the hole in the vehiclestructure to mechanically secure the fastener insertion gun duringinstallation of the fastener. The reader mechanism may be associatedwith the forward portion of the gun body and may receive informationfrom a machine-readable element associated with the hole in the vehiclestructure. The plurality of internal air valves may be located withinthe gun body and may selectively provide pressurized air used to installthe fastener. The gun computer may be housed within the gun body and mayreceive the information via the reader mechanism, load the fastenerbased on the information from the reader mechanism, and actuate one ormore of the internal air valves to provide the pressurized air used toinstall the fastener.

In various implementations of the foregoing embodiment, the fastenerinsertion gun may further include any one or more the followingfeatures. The machine-readable element may be a radio-frequencyidentification element electronically communicating the information, oralternatively, communicating a code which may be used to obtain theinformation from a database. The information may include fastenerinformation regarding the fastener to be installed in the hole, such asa type and a size of the fastener, and how the fastener is to beinstalled in the hole. The fastener insertion gun may further comprise afastener supply tube connected to the gun body and delivering thefastener to the gun body from a fastener supply reservoir. The fastenerinsertion gun may further comprise a fastener feed window mountedthrough the gun body and allowing an operator of the fastener insertiongun to see the fastener within the gun body.

The fastener insertion gun may further comprise an impact mechanismapplying an impact force to an end of the fastener, the impact mechanismincluding an impact tube including a forward port connected to a firstinternal air valve of the plurality of internal air valves and arearward port connected to a second internal air valve of the pluralityof internal air valves; an impact rod moving forwardly within the impacttube to apply the impact force to the end of the fastener, and movingrearwardly to reset; an impact mass moving forwardly within the impacttube to strike the impact rod, and moving rearwardly to reset; and thegun computer controlling the first and second internal air valves so asto move the impact rod and the impact mass forwardly and rearwardly byselectively introducing the pressurized air into the impact tube via theforward and rearward ports.

The impact mechanism may further include forward and a rearward firstinductive sensors detecting a location of the impact mass within theimpact tube, and the gun computer receiving the location of the impactmass from the forward and rearward first inductive sensors andcontrolling the first and second internal air valves based on thelocation of the impact mass within the impact tube. The impact mechanismmay further include a plurality of forward second inductive sensorsdetecting a location of the impact mass at the forward end of the impacttube, and the gun computer determining when the fastener is fully seatedin the hole based on the location of the impact mass at the forward endof the impact tube. The impact mechanism may further include one or morevariable pressure regulators controlling the pressure of the pressurizedair entering the impact tube through the forward and rearward ports, andthe gun computer controlling the one or more variable pressureregulators to change the impact force applied to the end of the fastenerby the impact rod. The impact mechanism may further include a rod andmass retractor moving rearwardly to reset the impact rod and the impactmass; a bumper at a forward end of the impact tube and absorbing aremaining portion of the impact force of the impact rod; and a bushingat the forward end of the impact tube and through which the impact rodmoves to reduce wear.

The fastener insertion gun may further comprise a sealant dispensingmodule comprising a cartridge containing a sealant, the sealantdispensing module selectively applying the sealant to the fastener priorto installation, and the gun computer controlling the selectiveapplication of the sealant. The fastener insertion gun may furthercomprise a display mechanism mounted on the gun body and visuallycommunicating operation information from the gun computer to an operatorof the fastener insertion gun; and an operator interface mounted on thegun body and facilitating an input of operation information from theoperator of the fastener insertion gun to the gun computer.

This summary is not intended to identify essential features of thepresent invention, and is not intended to be used to limit the scope ofthe claims. These and other aspects of the present invention aredescribed below in greater detail.

DRAWINGS

Embodiments of the present invention are described in detail below withreference to the attached drawing figures, wherein:

FIG. 1 is a high-level depiction of an embodiment of a system fordrilling a hole in a vehicle structure and installing a fastener in thehole, wherein the system includes a drill plate, a drill gun, a fastenerdelivery subsystem, and a fastener insertion gun;

FIG. 2 is a plan view of an implementation of the drill plate componentof the system of FIG. 1 positioned on the vehicle structure;

FIG. 3 is an isometric view of the drill plate of FIG. 2 shownpositioned on the vehicle structure;

FIG. 4 is an isometric view of an implementation of the system of FIG. 1involving multiple drill plate components;

FIG. 5A is a cross-sectional elevation view of a first version of theimplementation of FIG. 4;

FIG. 5B is a cross-sectional elevation view of a second version of theimplementation of FIG. 4;

FIG. 5C is a cross-sectional elevation view of a third version of theimplementation of FIG. 4;

FIG. 6 is a side elevation view of the drill gun component of the systemof FIG. 1;

FIG. 7 is a first fragmentary broken isometric view of the fastenerinsertion gun component of the system of FIG. 1;

FIG. 8 is a second fragmentary broken isometric view of a fastenerinsertion gun of FIG. 7;

FIG. 9 is a cross-sectional isometric view of the fastener insertion gunof FIG. 7;

FIG. 10 is a cross-sectional elevation view of an impactor subcomponentof the fastener insertion gun of FIG. 7, wherein the impactor is shownin a retracted position;

FIG. 11 is a cross-sectional elevation view of the impactor of FIG. 10,wherein the impactor is shown in an intermediate position;

FIG. 12 is a cross-sectional elevation view of the impactor of FIG. 10,wherein the impactor is shown in a forward position;

FIG. 13A is a cross-sectional elevation view of an implementation of theimpactor of FIG. 11 showing first inductive sensors for controllingimpact cycles;

FIG. 13B is a cross-sectional elevation view of an implementation of theimpactor of FIG. 11 showing second inductive sensors for determiningfastener height;

FIG. 14 is a cross-sectional perspective view of the fastener insertiongun of FIG. 7 showing a sealant dispensing module component;

FIG. 15 is perspective view of first subcomponents of the sealantdispensing module of FIG. 14;

FIG. 16 is an isometric view of second subcomponents of the sealantdispensing module of FIG. 14;

FIG. 17 is a fragmentary cross-sectional side elevation view of thefastener insertion gun component and a fastener supply tube component ofthe fastener delivery subsystem of FIG. 1;

FIG. 18 is a flowchart of steps involved in use and operation of thedrill plate; and

FIG. 19 is a flowchart of steps involved in use and operation of thefastener dispensing subsystem.

The figures are not intended to limit the present invention to thespecific embodiments they depict. The drawings are not necessarily toscale.

DETAILED DESCRIPTION

The following detailed description of embodiments of the inventionreferences the accompanying figures. The embodiments are intended todescribe aspects of the invention in sufficient detail to enable thosewith ordinary skill in the art to practice the invention. Otherembodiments may be utilized and changes may be made without departingfrom the scope of the claims. The following description is, therefore,not limiting. The scope of the present invention is defined only by theappended claims, along with the full scope of equivalents to which suchclaims are entitled.

In this description, references to “one embodiment,” “an embodiment,” or“embodiments” mean that the feature or features referred to are includedin at least one embodiment of the invention. Separate references to “oneembodiment,” “an embodiment,” or “embodiments” in this description donot necessarily refer to the same embodiment and are not mutuallyexclusive unless so stated. Specifically, a feature, component, action,step, etc. described in one embodiment may also be included in otherembodiments, but is not necessarily included. Thus, particularimplementations of the present invention can include a variety ofcombinations and/or integrations of the embodiments described herein.

Broadly, embodiments provide a system and method for drilling holes inaircraft fuselages or other aerospace or vehicle bodies or structuresand delivering, sealing, inserting, and otherwise installing fastenersin the holes. Embodiments provide solutions that advantageously combinehigher quality and lower cost relative to the prior art, and that mayadvantageously reduce defects associated with improper hole drilling orfastener installation by ninety percent. This is achieved by acombination of smart drill plates protecting the surfaces of the bodiesor other structures and identifying proper drilling and fastenerparameters, smart drilling guns, smart fastener insertion guns, and anoverarching quality control mechanism. Operators no longer need tomemorize such information as hole diameters, fastener types, and griplengths for hundreds or thousands of locations on the bodies, sotraining time may be reduced from several months to one week.

Referring to FIG. 1, an embodiment of a system 30 is shown configured todrill holes and deliver, seal, insert, and otherwise install fastenersin the holes in aircraft fuselages or other aerospace or vehicle bodiesor structures 32. The system 30 may include some or all of one or moredrill plates 34, a drill gun 36, a fastener delivery subsystem 38, afastener insertion gun 40, and a system computer 42.

Referring also to FIGS. 2 and 3, the one or more drill plates 34 may beconfigured to temporarily attach to or otherwise physically position onthe structure 32 and inform and physically guide the operation of thedrill gun 36 in drilling the holes in the structure 32 and inform andphysically guide the operation of the fastener insertion gun 40 ininstalling the fasteners in the holes. In one implementation, each drillplate 34 may include a plate body 46, one or more openings 48 throughwhich the holes may be drilled and the fasteners installed, and one ormore machine-readable elements 50 associated with the openings 48.

The plate body 46 may have substantially any suitable shape desired orneeded to fulfill its function, may be constructed from substantiallyany suitable material, such as carbon fiber reinforced resin oraluminum, and may be constructed using substantially any suitabletechnology, such as three-dimensional printing or computer-controlledmilling technologies. For at least some applications, three-dimensionalprinting may allow for reduced cost, assembly, maintenance, size, andweight. The plate body 46 may be physically positionable on a locationon the structure 32 to avoid damage to the surface of the structure thatmight otherwise occur during the drilling and fastener installationprocess. The plate body 46 may be temporarily attachable to thestructure 32 using substantially any suitable technology, such as a holelocating/mapping convention with bushings and mechanical mechanisms(e.g., WedgeLocks™) to resist loosening. The plate body 46 may presentthe one or more openings 48 extending through the plate body 46 andthrough which the holes may be drilled and the fasteners installed inthe structure 32. As desired or needed for particular applications, theopenings 48 may have relatively close tolerances.

The one or more machine-readable elements 50 may be configured to storeand communicate information relevant to drilling the holes andinstalling the fasteners. Such information may include a size of a drillbit; a speed of the drill; a type, size, or grip length of a fastener; adrill feed by stack material; whether coolant should be used; a hammertime; and whether sealant should be applied. The machine-readableelements 50 may employ substantially any suitable machine-readabletechnology. Although generally described herein as being radio-frequencyidentification (RFID) elements, the machine-readable elements mayalternatively be, for example, readable barcodes or quick response (QR)codes.

The RFID elements 50 may be embedded into or applied to a surface of theplate body 46 proximate to the openings 48. The actual distance betweenan RFID element 50 and its corresponding opening 48 may depend on suchfactors such as the strength of the RF signal. In one implementation,each opening may be associated with its own RFID element, while inanother implementation, several or all of the openings may be associatedwith a single RFID element. As discussed in more detail below, otherelements of the system 30, such as the drill gun 36 and the fastenerinsertion gun 40 may include reader mechanisms configured to read theinformation stored on the RFID elements 50, and may use that informationto ensure that the drilling and installation processes are performedwithout error. In one implementation, the information may be stored onthe RFID element 50, while in another implementation, the informationmay be stored in an electronic memory element 54 and the RFID element 50may provide an identification code (e.g., a twenty-four bit alphanumericidentifier) which can be used to electronically access the informationfrom the electronic memory element 54. In one implementation, the RFIDelement 50 may be further configured to determine, through electronicinteraction with the drill gun 36 and the fastener insertion gun 40,whether a hole has been drilled and whether a fastener has beeninstalled through each opening 48, and that information may be stored inthe electronic memory element 54.

In one implementation, each RFID element 50 may include a transmitterand an integrated antenna and each reader mechanism 56,110 may include areceiver and an integrated antenna, while in another implementation,both the RFID elements 50 and the reader mechanisms 56,110 may includetransceivers and integrated antennas for bidirectional communication.The transmission power, antenna design, and other aspects of the RFIDelements 50 and reader mechanisms 56,110 may be optimized for particularapplications. In one example application, the transmission power andantenna design of the reader mechanisms 56,110 may be optimized to readRFID elements 50 within approximately twelve millimeters of an opening48 in any direction. If the openings 48 are in close proximity to eachother, a particular RFID element 50 may be readable from severaldifferent opening locations. In one implementation, if a readermechanism reads more than one RFID element 50 from a particular opening,then the system 30 may determine which opening 48 correlates moststrongly with the group of RFID elements 50 and proceeds based on theinformation from the electronic memory element 54.

Referring also to FIGS. 4-5C, in another embodiment, the system 30 mayemploy two drill plates 34A,34B for each hole and fastener. Morespecifically, the structure 32 may have multiple layers, and a firstdrill plate 34A may be positioned on a first surface (e.g., an interior)of the multi-layered structure 32, and a second drill plate 34B may bepositioned on a second surface (e.g., an exterior) of the multi-layeredstructure 32, such that the first and second plates 34A,34B are alignedwith each other. The first and second plates 34A,34B may then befastened together through the structure 32, or otherwise temporarilysecured in place on the structure 32, in such a manner as to compressand clamp the multiple layers of the structure 32 together so as tofacilitate more accurately drilling the hole and inserting the fastenerthrough the multiple layers.

In a related embodiment, the system 30 may employ the two drill plates34A,34B for each hole and fastener, wherein the fastener is a rivet.More specifically, the first drill plate 34A may be positioned on thefirst surface of the structure 32 (which may have one or multiplelayers), and a second drill plate 34B may be positioned on the secondsurface of the structure 32, such that the first and second plates34A,34B are aligned with each other. The first and second plates 34A,34Bmay then be fastened together through the structure 32, or otherwisetemporarily secured in place on the structure 32.

Riveting aerospace structures presents particular challenges. The priorart process is entirely manual and requires two technicians, one on eachside of the structure. One technician selects and inserts theappropriate rivet, and then uses a rivet hammer with an appropriate setto form the rivet. The other technician uses a bucking bar to provide asurface to form the rivet as the hammer is working. This requires thetwo technicians to be aware of and synchronized with each other'sactions to avoid skin quality defects.

In one embodiment, an improved manual process is provided which may usethe above-described drill plates 34A,34B and wherein drilling andcountersinking may be performed by drills that automatically drill holesand set countersinks in the structure 32. The drill plates 34A,34Badvantageously protect the skin and precisely locate the holes.

A placement device may be used to facilitate placing a rivet R in thehole while the drill plate 34B is attached. In one implementation, theplacement device may be a bushing which is a slip fit into the opening48 in the drill plate 34B. The placement device may have an innerdiameter which is approximately the same size as the rivet R, therebyallowing the rivet R to travel through the drill plate 34B to thecountersunk hole without flipping or turning. In another implementation,the placement device may have one or more fingers that grip andconstrain the rivet R, thereby allowing for manual placement of therivet R into the hole.

A rivet set may be used which is turned to a diameter that is a slip fitto the openings 48 in the drill plate 34B, and which is compatible withthe rivet hammer. The openings in the drill plate 34B may align therivet set directly on top of the rivet R as it sits in the structure 32.This advantageously constrains the rivet hammer during its impact cycle,thereby improving skin quality by reducing defects of off-center,mis-aligned, or out of control rivet hammers that can cause skinindentations, scratching, or improperly set rivets.

In one implementation, which may involve only the outer drill plate 34B,a second technician on the opposite side of the structure 32 may use asubstantially conventional bucking bar in synchronicity with the firsttechnician setting the rivets. In another implementation, seen in FIG.5A, the inner drill plate 34A may be used for bucking each rivet R,which may advantageously reduce or eliminate the need for the secondtechnician. The inner drill plate 34A may be positioned on the oppositeside of the structure 32 from the outer drill plate 34B, and may beconfigured to provide the reaction force required to form the rivet R.The inner drill plate 34A may perform the function of the bucking bar,thereby advantageously allowing a single technician to install rivetswhile reducing the number of skin quality defects. Further, use of thedrill inner plate 34A reduces or eliminates the impacts routinelyabsorbed by the second technician.

The inner drill plate 34A may take substantially any suitable form,including a thin metal (e.g., aluminum or steel) plate with pocketedforming areas 202 at locations where rivets are to be placed. At eachsuch location, the inertia of the inner drill plate 34A provides thereaction forces against the impact of the rivet hammer to form the rivetR.

Referring to FIG. 5B, in another implementation, the inner drill plate34A may take the form of a three-dimensionally printed or machined platewhich has a spring-loaded mass over each location where a rivet R is tobe place. The spring 204 and the mass 206 may be tuned to the impactrate to ensure contact with the rivet R at each impact of the hammer.This may be accomplished by assuming a vibrating system with a singledegree of freedom wherein the natural frequency of the system isadjusted by modifying the spring 204 or the mass 206. The springs 204may be sheet metal cut and folded to provide an initial pretension, andthe masses 206 may be attached to the flanges of the sheet metal and actas a forming surface for the rivet R.

Referring to FIG. 5C, in a related implementation, rather than beingassociated with a spring, each mass 206 may be associated with anactuator 208. The mass 206 may act as the forming surface of the rivetR, and the actuator 208 may provide the desired or required contactforce. In one version, the actuator 208 may be a pneumatic actuatorconfigured to apply a nominal force as well as pneumatic spring effects.The air pressure and the mass 206 may be varied to maintain contactbetween the mass 206 and the rivet R during impacting. In anotherversion, the actuator 208 may be a hydraulic actuator, and the mass 206and its associated actuator location may be hydraulically coupled. Thisallows the forming surface to be semi-rigidly force-coupled with thesurrounding masses wherein the movement of one mass transfers theforce/motion to its surrounding masses. This may advantageously reduceweight and complexity in comparison with the pneumatic version.

In another embodiment, a semi- or fully-automated process is providedwhich may use the above-described drill plates 34A,34B. Broadly, theprocess involves a hand-held rivet insertion gun (such as the fastenerinsertion gun 40, described below) which a technician can lock into thedrill plate 34B and with the push of a single button (1) identify thehole and the type of desired or required rivet, (2) call for that rivetfrom a fastener supply system (such as the fastener delivery subsystem38, described below), (3) receive and load the rivet and place it intothe hole, and (4) form the rivet through multiple impacts.

In one implementation, the rivet insertion gun 40 may be configured tomimic the impact cycles of a rivet set for use with aluminum andtitanium rivets. Some or all of the operations of the rivet insertiongun 40 may be electronically controlled to accommodate one or more ofthe following bucking technologies. In one implementation, the rivetinsertion gun 40 may be secured in the drill plate 34B using aconcentric collet 112. This allows for greater control of the forcesbeing applied directly on the rivet R, which facilitates repeatableforming of the rivet R through a number of impacts or a duration ofconstant impacting based on the rivet diameter and grip length.

A modified bucking bar may be integrated into a control system (such asthe system computer 42 or the fastener insertion gun computer 98, bothof which are described below) to provide a signal when in contact withthe rivet R. This signal can be used in conjunction with the rivetinsertion gun 40 to provide synchronized feedback indicating when tobegin the impacting process. Alternatively, the inner drill plate 34Amay function as an inner bucking plate allowing the rivet R to be formedat any hole. In another implementation, electronically activated impactmodules 118 (described below), 206/208 (described above) on both sidesof the rivet R may be coordinated to simultaneously impact the rivet R.The drill plates 34A,34B and the rivet insertion gun 40 may identify thehole and call for the desired or required rivet R. The inner drill plate34A may be configured similar to the above-described outer drill plate34B with lockable bushings. Because the impact module 118 of the rivetinsertion gun 40 is fully programmable through electronic valving, theimpact modules 118, 206/208 on each side of the rivet R may besynchronized and impact simultaneously or at programmed offsets. Thisadvantageously provides increased control in forming the rivet R andincreased quality as forces act on the rivet from opposing sides ratherthan into the structure itself.

In operation, the inner and outer drill plates 34A,34B and respectivefirst and second technicians may be positioned on opposite sides of thestructure 32. The rivet insertion gun 40 may be positioned on the outerdrill plate 34B and may read an RFID element 50 associated with eachhole, call for the desired or required rivet R, and place the rivet R inthe hole. The second standalone impact module 206/208 may be positionedon the inner drill plate 34A and may be electronically synchronized withthe rivet insertion gun 40. Impact parameters may be loaded for theparticular rivet to both the gun computer 98 of the rivet insertion gun40 and a module computer 210 of the second impact module 210. Thecomputers 98.210 may be synchronized and begin impacting cycles insynchronicity with each other so as to impact the rivet R simultaneouslyor at programmed offsets to form the rivet R.

Referring also to FIG. 6, the drill gun 36 may be configured tocooperate with the drill plate 34 to drill the holes in the structure 32to receive the fasteners. In one embodiment, the drill gun 36 may besubstantially conventional in design and operation except as otherwisedescribed herein.

In one embodiment, the drill gun 36 may include a drill gun readermechanism 56, a drill gun display 58, and a drill gun computer 60. Thedrill gun reader mechanism 56 may be configured to read the holeinformation stored on the RFID element 50 associated with the openings48 holes in the drill plate 34, and based on the hole information,determine the size, depth, and other relevant characteristics of thehole to be drilled. The drill gun display device 58 may be configured todisplay the hole information or other relevant information forconsideration by an operator of the drill gun 36. In one implementation,the drill gun computer 60 may be configured to compare the holeinformation with the set-up of the drill gun 36 (e.g., the installeddrill bit 60, the set depth of drilling) and to automatically shut-offor otherwise block the drill gun 36 if the hole information is notcorrectly reflected in the set-up of the drill gun 36, thereby avoidingerrors in drilling the hole. In another implementation, this functionmay be performed by the system computer 42 in communication with thedrill gun 36.

Referring again to FIG. 1, the fastener delivery subsystem 38 may beconfigured to store, track, and deliver the fasteners to the fastenerinsertion gun 40. In one implementation, the fastener delivery subsystem38 may be configured to manage and supply fasteners of multiplediameters and grip lengths to the fastener insertion gun 40 as desiredor needed. In one implementation, the fastener delivery subsystem 38 maybe configured to deliver fasteners to multiple installation locations(i.e., to multiple fastener insertion guns 40). In one implementation,the fastener delivery subsystem 38 linked to the fastener insertion guns40 may be configured to deliver and wet install approximately 5,000hi-lok fasteners per hour. To meet this throughput rate, there may beeighteen fastener insertion guns 40 connected to the fastener deliverysubsystem 38. Each fastener insertion gun 40 attached to the fastenerdelivery subsystem 38 may be capable of calling, receiving, andinstalling a fastener within six seconds.

An embodiment of the fastener delivery subsystem 38 may include acabinet 64, a rack 66, one or more fastener cassettes 68, a pneumaticcassette union 70 and locking mechanism 72, a rail 74, an integrator 76,a diverter 78, a booster 80, a display device 82, and a fastenerdelivery subsystem computer 84. In one implementation, the fastenersubsystem may further include one or more sensors 86 located in orthroughout the fastener delivery subsystem 38 to monitor the positionsof the fasteners as they travel from the fastener cassettes 68 to thefastener insertion gun 40.

The cabinet 64 may be configured to house one or more (e.g.,approximately between two and four, or three) racks 66, and each rack 66may be capable of holding the one or more (e.g., approximately betweenfifteen and twenty, or eighteen) cassettes or other fastener supplyreservoirs 68. The cassettes 68 may be existing commercially availablecassettes or modified or custom-designed technology. In oneimplementation, each cassette may include an RFID or othermachine-readable element configured to store and communicate cassetteinformation regarding the fastener cassette and its contents. In oneimplementation, the cabinet 64 may house or connect to all of the othercomponents and controls for the fastener delivery sub system 38.

When a cassette 68 is loaded into a rack 66 it may engage the pneumaticcassette union 70. The pneumatic cassette union 70 may be configured tosupply pressurized air to the cassettes 68. The lock mechanism 72, whichmay include a latch component, may be integrated into the pneumaticcassette union 70 to engage the cassette 68 and prevent it from beingremoved without the operator requesting its release from the fastenerdelivery subsystem computer 84. This function facilitates the fastenerdelivery subsystem computer 84 accurately tracking the quantities andtypes of fastener cassettes loaded into the cabinet 64. A proximitysensor 90 may be integrated into each cassette location in order toconfirm that a cassette 68 is loaded or not loaded at that location.

The rail 74 may include a reader mechanism 92 configured to read thecassette information from the RFID or other machine-readable elements onthe cassettes 68, and report the cassette information to the fastenerdelivery subsystem computer 84 which may store, track, and report thecassette information. The rail 74 may be further configured to cooperatewith the lock mechanism 72 in locking and unlocking the cassettes 68. Inone implementation, a pneumatic cylinder may be incorporated into therail 74, wherein the pneumatic cylinder extends or otherwise actuates toopen the lock mechanism 72. When the lock mechanism 72 is released, anejector mechanism (e.g., one or more additional pneumatic cylinders) mayextend or otherwise actuate to release the cassette 68 from thepneumatic cassette union 70. This function allows an operator tovisually identify which cassette has been released, and also makes iteasier to remove the released fastener cassette from the rack 66.

The integrator 76 may be configured to receive fasteners from the outputof each cassette 68, and to integrate the outputs of all of thecassettes 68 into a common stream and deliver it to the diverter 78. Thediverter 78 may be configured to receive the stream of fasteners fromthe integrator 76 and direct individual fasteners to one or moreoutputs, with each output leading to one of the fastener insertion guns40. The diverter 78 may be directly driven by a servo motor. A ringsensor may be used to validate that a fastener has passed the throughthe output. A signal from the ring sensor may activate the booster 80which may be configured to pneumatically accelerate the fastener to aminimum speed (e.g., approximately between forty and eighty feet persecond, or approximately fifty-eight feet per second). The signal fromthe ring sensor may also indicate to the diverter 78 to process the nextfastener in the stream. When the fastener is detected in the fastenerinsertion gun 40, the booster 80 may turn off.

The outputs of the diverter 78 may be directly attached to the fastenerinsertion guns 40 through fastener supply tubes 94. The tube lengths maybe substantially any desired or needed length (e.g., one hundred feet ormore in some cases), so the velocity of the fastener may be a factor inachieving a desired fastener installation time (of, e.g., approximatelybetween three and nine seconds, or six seconds).

Any surfaces of the diverter 78 that experience a relatively higherdegree of wear may be designed to be quickly and easily replaceable.

The display device 82 may be configured to display cassette and fastenerinformation for consideration by an operator of the system 30. In oneimplementation, the fastener delivery subsystem computer 84 may beconfigured to monitor the availability of fasteners and the movement ofthe fasteners through the fastener delivery subsystem 38, and toautomatically shut-off or otherwise block the delivery of fasteners if aneeded fastener is not available of if there is an issue with themovement of fastener. In another implementation, this function may beperformed by the system computer 42. If a shut-off or other blockoccurs, the reason for the shut-off or other block may be communicatedvia the display device 82 to facilitate rectifying the problem.

Referring also to FIGS. 7-16, the fastener insertion gun 40 may beconfigured to receive fasteners from the diverter 78 via the fastenersupply tube 94, and install each fastener through one of the openings 48in the drill plate 34 and into the corresponding hole previously drilledin the structure 32. An embodiment of the fastener insertion gun 40 mayinclude a gun body 96; a fastener insertion gun computer 98, displaydevice 100, an operator interface 102; a fastener feed window 104; oneor more electronic air valves 106; an internal air delivery subsystem108; a reader mechanism 110; a concentric collet 112; concentric colletand cycle start buttons 114; an impact mechanism 118; and a sealantdispensing module 120.

The gun body 96 may be configured to house or otherwise physicallysupport other components of the fastener insertion gun 40. The gun body96 may have substantially any suitable shape desired or needed tofulfill its function, may be constructed from substantially any suitablematerial, such as carbon fiber reinforced resin or aluminum, and may beconstructed using substantially any suitable technology, such asthree-dimensional printing or computer-controlled milling technologies.For at least some applications, three-dimensional printing may allow forreduced cost, assembly, maintenance, size, and weight. The gun body 96may include internal porting for the pneumatic lines of the internal airdelivery subsystem 108.

The reader mechanism 110 may be configured to read or otherwise receiveinformation from or exchange information with the RFID or othermachine-readable elements 50 of the drill plate 34. In one implement inwhich the machine-readable element 50 is an RFID element, the readermechanism 110 may be an RFID reader mechanism. The information may beprovided to the faster gun computer 98.

The fastener insertion gun computer 98 may be configured to control someor all aspects of the operation of the fastener insertion gun 40, suchas sensing and reading information from the machine-readable elements 50on the drill plate 34, actuating internal air valves, feeding fasteners,hammering, applying sealant, and other operations. The fastenerinsertion gun computer 98 may be configured to engage in wirelesscommunication with other systems, machinery, or databases to receive ortransmit relevant information. The display device 100 may be configuredto visually communicate relevant operation information to the operatorof the fastener insertion gun 40.

In one implementation, the fastener insertion gun computer 98 may beconfigured to compare the fastener information with the set-up of thefastener insertion gun 40 and to automatically shut-off or otherwiseblock the fastener insertion gun 40 if the fastener information is notcorrectly reflected in the set-up of the fastener insertion gun 40,thereby avoiding errors in selecting and inserting the fastener in thehole. In another implementation, this function may be performed by thesystem computer 42.

The display device 100 may employ substantially any suitable displaytechnology, and may be, for example, an otherwise conventionaltwo-point-two inch display. The operator interface 102 may be configuredto allow the operator to provide input to the fastener insertion guncomputer 98. The operator interface 102 may employ substantially anysuitable interface technology (e.g., a keypad). In one implementation,the display device 100 may include touch-sensitive interface technologywhich fulfills the function of the operator interface 102.

The fastener feed window 104 may be configured to facilitate visuallyobserving movement of a fastener through the fastener insertion gun 40.In one implementation, the fastener feed window 104 may include atransparent material through which the operator can directly visuallyobserve the movement of each fastener.

The electronic air valves 106 may be configured to selectively open todeliver pressurized air to the fastener insertion gun 40 as desired orneeded to perform operations, and to selectively close to block the air.The internal air delivery subsystem 108 may be configured to distributethe pressurized air from the air valves 106 within the fastenerinsertion gun 40 for use by other components (e.g., the impact mechanism118).

The concentric collet 112 may be configured to be inserted into theopening 48 in the drill plate 34 and then actuated so as to expand theconcentric collet 112 within the opening 48 to mechanically secure thefastener insertion gun 40 in place during actual insertion of thefastener. Once the fastener is inserted, the concentric collet 112 maybe actuated to contract and allow the fastener insertion gun 40 to bewithdrawn from the opening 48. In one implementation, the concentriccollet 112 may be generally conventional in design and operation. Theconcentric collet and cycle start buttons 114 may be configured to beactuated by the operator of the fastener insertion gun 40 to,respectively, actuate the concentric collet 112 and initiate the processof inserting the fastener into the hole.

Referring particularly to FIGS. 9-13B, the impact mechanism 118 may beconfigured to apply an impact force to an end of the fastener in orderto drive the fastener into the hole in the structure 32. In oneimplementation, the impact mechanism 118 may include an impact tube 124;an impact rod 126; a mass 128 associated with a rearward end of theimpact rod 126; a rod tip 130 and a bushing 132 associated with aforward end of the impact rod 126; and a rod and mass retractor 134configured to reset the impact rod 126 after actuation. In oneimplementation, the impact mechanism 118 may be configured to be able toseat a fastener having a relatively long grip length and to fullyretract to allow a subsequent fastener to move into position. The impactrod 126 and impact mass 128 may move forwardly and rearwardly along alongitudinal axis within the impact tube 124. A rubber bumper 136 may beprovided at a forward end of the impact tube 124 to absorb any remainingimpact force of the impact rod 126. The bushing 132 through which theimpact rod 126 moves may be provided at the forward end of the impacttube 124 to reduce wear due to repeated movement of the impact rod 126.One or more ports 138 may be provided in a wall of the impact tube 124to allow pressurized air to be introduced to drive the impact rod 126and impact mass 128 forwardly and rearwardly and thereby actuate andreset them.

The impact rod 126 and impact mass 128 may be separate components whichactuate sequentially but reset together. In one implementation, once afastener is positioned for insertion, pressurized air may be introducedinto a port in the wall of the impact tube 124 to move the impact rod126 forwardly while the impact mass 128 remains rearwardly (seen in FIG.11). The force applied by the impact rod 126 alone may loosely seat thefastener in the hole. When the fastener insertion gun 40 is actuated,the air may be exhausted from a forward port 138A and introduced into arearward port 138B to drive the impact mass 128 into the rear end of theimpact rod 126 (seen in FIG. 12), and this force may be transmitted viathe impact rod 126 to the fastener to firmly seat the fastener in thehole. Pressurized air may then be introduced into the impact tube 124via the forward port 138A to drive the retractor 134 back to itsrearward position, and the retractor 134 may act to return the impactrod 126 and the impact mass 128 to their rearward positions as well.

In one embodiment, the hammering action of the impact mechanism 118 maybe fully electrically controlled. The computer 98 may cycle the airvalves 106 in the correct sequence to accelerate the impact mass 128 tothe front or the rear of the impact tube 124. These cycles can becontrolled to impact the fastener a specific number of times desired orrequired to set a fastener for a particular grip length. An open loopimplementation of the impact mechanism 118 may hold corresponding airvalves 106 open for a pre-determined period of time (measured in, e.g.,milliseconds) which is sufficient for the entire travel of the impactmass 128. After the predetermined period of time has expired, thecomputer 98 may cycle the air valves 106 to reverse the direction of theimpact mass 128 and hold those corresponding air valves 106 open for thepre-determined period of time. The computer 98 may repeat this procedurefor a particular number of hits based on the particular grip length ofthe fastener being set.

Referring also to FIG. 13A, a closed loop implementation of the impactmechanism 118 may use inductive sensing to detect the location of theimpact mass 128 within the impact tube 124. The electronic actuation ofthe impact mass 128 may function substantially similar or identical tothe open loop implementation but without the need for fixed timings forthe air valves 106. One or more first inductive sensors 140 may beprovided in or on the impact tube 124 to sense whether the impact mass128 has reached the front or the rear of the tube 124. Based on datafrom the first sensors 140, the computer 98 may sequence the air valves106 for the impact cycles based on the sensed position of the impactmass 124. Operation of the first sensors 140 may be optimized by placingthem in locations slightly before the front or rear of the impact tube124 to compensate for mechanical lag in the opening of the air valves106. The closed loop implementation may provide several advantages,including transmitting less impact force to the drill plates 34 and thestructure 32, providing an increased number of impact cycles per second,and providing increased life by compensating for wear in the impactmechanism 118.

Referring also to FIG. 13B, in one embodiment, a plurality of secondinductive sensors 142 may be embedded in the front section of the impacttube 124 to locate the impact mass 128. Each second sensor 142 mayestablish an electromagnetic field which provides a set inductance thatcan be measured (by, e.g., a Texas Instruments LDC1614 integratedcircuit) and communicated to the computer 98. The inductance changes asthe impact mass 128 enters the electromagnetic field of each secondsensor 142. This provides a variable inductance which is closely relatedto the position of the impact mass 128 relative to the second sensor142. The plurality of second sensors 142 may be positioned sequentiallyin a bank of between two and four sensors to cover the full range ofmovement of the impact mass 128 while it is hammering a fastener. Beingable to detect where the impact mass 128 is at the front of the impacttube 124 allows for determining when a fastener is fully seated due tothe stackup of the impact mass 128 and the impact rod 126. This can becalibrated by extending the mass 128 and the rod 126 to a flat surfacesimulating a seated fastener, and then measuring the inductance valuesfrom the second sensors 142 that is unique to the location of the impactmass 128.

The impact force for each cycle may be controlled by any of severalmethods. The kinetic energy stored in the impact mass 128 at the momentof impact is transferred through the impact rod 126 acting directly onthe fastener. With an assumed velocity of 0 at the point of impact, theimpact energy is equivalent to the kinetic energy described by thekinetic energy equation 0.5×mass×velocity{circumflex over ( )}2. Thekinetic energy stored in the impact mass 128 is equivalent to the workdone on the mass 128 described by the equation force×distance=work.Therefore, the force applied to or distance traveled by the impact mass128 may be modified to reduce the impact energy imparted to thefastener.

In a first implementation, variable pressure regulation may be used toreduce forces acted upon the mass 128. This may be accomplished byeither a manually or an electronically adjusted regulator supplying theair valves 106. In a second implementation, a variable restrictor may bepositioned before the air valves 106 to reduce the fill rate of theimpact tube 126. This may function similar to the first implementationbut provides an initial high-pressure pulse before the air volume isdepleted between the restrictor and the air valves 106. In a thirdimplementation, the air valves 106 at the forward end of the impact tube126 may be restricted. During actuation, high pressure at the rearwardend of the impact tube 126 drives the impact mass 128 forward, and theforward end may be vented in order to avoid increasing pressure whichcould reduce the net force acting upon the impact mass 128. This ventingmay be purposely varied either manually or electrically by restrictingthe exhaust flow so as to reduce impact energy. In a fourth embodiment,one or more of the air valves may be controlled to shut off the supplyair early in the impacting action to reduce the overall force applied tothe impact mass 128. The effect of applying full force for only aportion of the length of the impact tube 124 is similar to shorteningthe tube 124.

Referring particularly to FIGS. 14-16, the sealant dispensing module 120may be configured to dispense a sealant as needed to seal a fastener ina hole. In one implementation, the sealant dispensing module 120 mayreceive removable cartridges containing the sealant to be dispensed. Thesealant cartridges may be disposable, refillable, or recyclable. Aplunger 146 may be actuated to move sealant from the cartridge to anapplicator outlet mechanism 148 which applies the sealant to thefastener before insertion. The plunger 146 may be driven along one ormore guide rods 150 by an electric stepper motor 152.

In one implementation, the sealant dispensing module 120 may usestandard (e.g., 5 cc) cartridges. The electronically controlled steppermotor 152 with a high pitch screw 154 attached to the plunger 146 may beutilized to pump the sealant at specific doses. This positivedisplacement design allows precise dispensing of the sealant material. Astandard 6 mm tube may extend between the 5 cc cartridge and theapplicator outlet mechanism 148. The outlet mechanism 148 may beactuatable by an electric motor 156 approximately 15 mm to an “up”position in which it may “catch” the fastener, and may be actuatable toa “down” position in which the fastener and the impact rod 126 passesthrough. The sealant is ported through the outlet mechanism 148 suchthat sealant is applied to the caught fastener during actuation. Aplurality (e.g., three) of ports may be exposed to apply sealant at aplurality (e.g., three) of locations across the fastener. One or more(e.g., two) of the locations may apply sealant along the sides of thefastener, and one or more (e.g., one) may apply sealant to the bottom ofthe fastener, thereby creating the required seal. The outlet mechanism148 may be a consumable item which is replaced as the sealant expires.Actuation of the outlet mechanism 148 may be accomplished electricallyor pneumatically, and may be controlled by the gun computer 98. Theimpact rod 126 in a low-pressure state may provide the capture requiredto fully seat the fastener in the outlet mechanism 148.

The system computer 42 may include a quality management system (QMS) 150configured to gather information from one or more components of thesystem (e.g., the drill plate 34, the drill gun 36, the fastenerdelivery subsystem 38, the fastener insertion gun 40) and, as desired orneeded, information from external sources, and display or otherwisecommunicate quality control information, including errors. In oneimplementation, the QMS 150 may be configured to perform a variety ofrelevant and useful functions, such as automatically preventing placingfasteners in holes that have not been drilled, preventing failing toplace fasteners in holes that have been drilled, avoiding incorrectdrilling or insertion sequences, avoiding using expired or incorrectsealant, avoiding using incorrect drill plates for particularapplications, and identifying and assist in addressing problems with themovement of fasteners through the system. Relatedly, the QMS 150 may beconfigured to track the progress of each job, such as which holes havebeen drilled and which fasteners have been installed. The QMS 150 may befurther configured to generate a report detailing the holes that weredrilled or not drilled and the fasteners that were installed or notinstalled.

As discussed, in one implementation, the system computer 42 may beconfigured to compare the required hole and fastener information withthe set-up of other components of the system and to automaticallyshut-off or otherwise block the drill gun 36 or the fastener insertiongun 40 if the required hole or fastener information is not reflected inthe set-up (e.g., the installed drill bit or the available fasteners),thereby preventing drilling an incorrect hole or inserting an incorrectfastener.

Referring to FIG. 17, a fastener catch mechanism 214 may be along eachfastener supply path, and may include a catch device 216, a first catchport 218, and a second catch port 220. The catch device 216 may bespliced into the fastener supply tube 94, and may include one or moreinductive sensing coils 222 configured to sense the presence of afastener in the supply tube 94, and one or more vents 224 configured torelease air pressure to slow the fastener prior to entering the fastenerinsertion gun 40. The first catch port 218 may provide pressurized airto further slow and catch the fastener within the fastener insertion gun40, and the second catch port 220 may provide pressurized air to createa venturi effect to bring the fastener into a final position 226 withinthe fastener insertion gun 40 for installation.

Referring also to FIG. 18, the drill plate 34 may be used and mayoperate substantially as follows. The one or more drill plates 34presenting the openings 48 may be positioned at particular locations onthe aircraft fuselage or other aerospace or vehicle body or structure32, as shown in step 300.

The drill bit 60 may be loaded into the drill gun 36, the drill gun 36may transmit relevant drill gun set-up information about the drill bit(e.g., type, diameter, length, material) and other relevant operationalparameters to the drill gun computer 60 or the system computer 42, asshown in step 302. The drill gun 36 may be brought into physicalproximity with a particular one of the openings 48 through which a holemay be drilled in the structure 32, and the reader mechanism 56 on thedrill gun 36 may read relevant hole information from the RFID or othermachine-readable element 50 associated with the particular opening 48,as shown in 304. The drill gun computer 60 or the system computer 42 maycompare the drill gun set-up information with the hole information anddetermine whether the set-up is incorrect or correct for the hole, asshown in 306. If the set-up is incorrect for the hole, then the drillgun computer 60 or the system computer 42 may notify the operator viathe display device 58 on the drill gun 36, and may prevent the drill gun36 from operating until the set-up is corrected, as shown in 308. If theset-up is correct for the hole, then the drill gun computer 60 or thesystem computer 42 may allow the operator to drill the hole, and mayrecord in the electronic memory element 54 that the hole was drilled, asshown in 310.

The fastener insertion gun 40 may be brought into physical proximitywith a particular one of the openings 48 through which a fastener may beinstalled in the previously drilled hole, and the reader mechanism 110on the fastener insertion gun 40 may read relevant hole information fromthe RFID or other machine-readable element 50 associated with theparticular opening 48, as shown in 312. The fastener insertion guncomputer 98 or the system computer 42 may compare the fastener insertiongun set-up information with the hole information and determine whether ahole has, in fact, been drilled through the particular opening, and ifso, whether the fastener insertion gun set-up is incorrect or correctfor the hole, as shown in 314. If the hole has not, in fact, beendrilled or if the fastener insertion gun set-up is incorrect for thehole, then the fastener insertion gun computer 98 or the system computer42 may notify the operator via the display device 100 on the fastenerinsertion gun 42, and may prevent the fastener insertion gun 42 fromoperating until the fastener insertion gun set-up is corrected, as shownin 316. If the hole has, in fact, been drilled and the set-up is correctfor the hole, then the fastener insertion gun computer 98 or the systemcomputer 42 may allow the operator to insert a fastener into hole, andmay record in the electronic memory element 54 that the fastener wasinserted, as shown in 318.

Referring also to FIG. 19, the fastener delivery subsystem 38 may beused and may operate substantially as follows. One or more cassettes 68of fasteners may be loaded into the racks 66 in the cabinet 64, as shownin 400. As each cassette 68 is loaded into the rack 66, the cassette 68may engage with the pneumatic union and locking mechanism 70,72, asshown in 402. The proximity sensor 90 integrated into the cassettelocation may confirm that the cassette 68 is loaded, as shown in 404.When the cassette 68 is detected by the proximity sensor 90, the readermechanism 92 on the rail 74 may read and store relevant information fromthe machine-readable element associated with the cassette 68, as shownin 406. Once all the cassettes 68 are loaded, the fastener deliverysubsystem 38 may be initialized, and may then wait for requests forfasteners from the fastener insertion gun 40, as shown in 408.

When a fastener request is received from the fastener insertion gun 40,the fastener delivery subsystem 38 may select the appropriate fastenerfrom one of the cassettes 68 in the rack 66 and route it through thesubsystem 38 to the fastener insertion gun 40, as shown in 410. Whenmultiple cassettes are loaded with the same type of fastener, thefastener subsystem computer 98 may strategically pull the fastener fromthe same cassette 68 in order to fully deplete one before switching toanother cassette 68. If two or more fasteners of the same type and griplength are called for at the same time, the fastener delivery subsystemcomputer 98 may pull from a primary cassette first and then from asecondary cassette. The fastener delivery subsystem 38 may includeparallel fastener delivery paths to multiple fastener insertion guns 40in order to increase throughput and redundancy of the primary componentsrequired to complete the process.

When a cassette 68 is depleted of fasteners (or if there is an error),an operator can select the cassette 68 using the operator interface 102with the fastener delivery subsystem computer 98 and have the cassette68 released from the rack 66, as shown in 412. The sensors 86 located inthe fastener delivery subsystem 38 may monitor the position of thefastener as it travels from the cassette 68 to the fastener insertiongun 40, as shown in 414. If any issues arise during the transit of thefastener, the operator may be visually notified via the display device100 on the fastener insertion gun 40 as well as on the display device 82of the cabinet 64, as shown in 416.

Having thus described one or more embodiments of the invention, what isclaimed as new and desired to be protected by Letters Patent includesthe following:
 1. A system for drilling a hole in a vehicle structureand installing a fastener in the hole, the system comprising: a firstdrill plate comprising: a plate body temporarily attached to a firstsurface of the vehicle structure, an opening through the plate body andextending to the first surface of the vehicle structure, and amachine-readable element associated with the opening and providinginformation regarding drilling the hole and regarding installing thefastener in the hole, wherein in operation, the opening receives a drillgun which drills the hole in the first surface, and then the openingreceives a fastener insertion gun which installs the fastener in thehole.
 2. The system of claim 1, wherein the plate body is constructed ofcarbon fiber reinforced resin.
 3. The system of claim 1, wherein themachine-readable element is a radio-frequency identification elementelectronically communicating the information.
 4. The system of claim 1,wherein the machine-readable element is a radio-frequency identificationelement that provides the information via electronically communicating acode which is used to obtain the information.
 5. The system of claim 1,wherein the information comprises hole information regarding how thehole is to be drilled.
 6. The system of claim 5, wherein the holeinformation further comprises a size of a drill bit for drilling thehole.
 7. The system of claim 1, wherein the information comprisesfastener information regarding the fastener to be installed in the holeand regarding how the fastener is to be installed in the hole.
 8. Thesystem of claim 7, wherein the fastener information regarding thefastener to be installed comprises a type and a size of the fastener tobe installed in the hole.
 9. The system of claim 1, wherein the firstdrill plate further comprises at least one additional opening throughthe plate body and extending to the first surface of the vehiclestructure such that there are a plurality of the openings, and whereinthe machine-readable element is a single machine-readable element thatis associated with the plurality of openings.
 10. The system of claim 1,wherein the first drill plate further comprises at least one additionalopening through the plate body and extending to the first surface of thevehicle structure such that there are a plurality of the openings andwherein the first drill plate further comprises at least one additionalmachine-readable element, wherein each of the machine-readable elementsis associated with a respective hole in the vehicle structure andprovides information regarding drilling the respective hole andregarding installing a respective fastener in the respective hole,wherein a different one of the machine-readable elements is associatedwith each opening of the plurality of openings.
 11. The system of claim1, further comprising an electronic memory element recording whether thehole has been drilled and whether the fastener has been installed in thehole.
 12. The system of claim 1, further comprising a second drill platetemporarily attached to a second surface of the vehicle structure andphysically aligned with the first drill plate.
 13. A system for drillinga hole in a vehicle structure and installing a fastener in the hole, thesystem comprising: a first drill plate comprising: a plate bodytemporarily attached to a first surface of the vehicle structure, anopening through the plate body and extending to the first surface of thevehicle structure, and a machine-readable element associated with theopening and providing information regarding drilling the hole andregarding installing the fastener in the hole, wherein themachine-readable element is a radio-frequency identification elementelectronically communicating the information, and wherein theinformation comprises hole information regarding drilling the hole andfastener information regarding installing the fastener, wherein inoperation, the opening receives a drill gun which drills the hole in thefirst surface, and then the opening receives a fastener insertion gunwhich installs the fastener in the hole.
 14. A system for drilling ahole in a vehicle structure and installing a fastener in the hole, thesystem comprising: a first drill plate comprising: a plate bodytemporarily attached to a first surface of the vehicle structure, aplurality of openings through the plate body and extending to the firstsurface of the vehicle structure, and a plurality of machine-readableelements associated with the openings and providing informationregarding drilling the hole and regarding installing the fastener in thehole, wherein the information comprises hole information regardingdrilling the hole and fastener information regarding installing thefastener, wherein a different machine-readable element of the pluralityof machine-readable elements is associated with each opening of theplurality of openings, wherein in operation, one of the openingsreceives a drill gun which drills the hole in the first surface, andthen the one opening receives a fastener insertion gun which installsthe fastener in the hole.